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#include "rosbag/time_translator.h"

namespace rosbag {

TimeTranslator::TimeTranslator()
    : time_scale_(1.0), real_start_(ros::TIME_MIN), translated_start_(ros::TIME_MIN)
{
}

void TimeTranslator::setTimeScale(double const& s) {
    time_scale_ = s;
}

void TimeTranslator::setRealStartTime(ros::Time const& t) {
    real_start_ = t;
}

void TimeTranslator::setTranslatedStartTime(ros::Time const& t) {
    translated_start_ = t;
}

void TimeTranslator::shift(ros::Duration const& d) {
    translated_start_ += d;
}

ros::Time TimeTranslator::translate(ros::Time const& t) {
    return translated_start_ + (t - real_start_) * (1.0 / time_scale_);
}

} // namespace rosbag
